Library for arduino to interface over UART with the Vesc BLDC controler (http://vedder.se/2015/01/vesc-open-source-esc/)
The files libraries
are directly forked from https://github.com/vedderb/bldc
datatypes.h was adapted.
All available UART handlers the VESC can deal with can be found in the file commands.c (https://github.com/vedderb/bldc.) in the function commands_process_packet. You can write easily own handler functions. Use converting functions in the library buffer.c.
##Some details to the UART port used in the VESC
It is a uint8_t byte stream.
0x02 for payload length of 256 byte >> next byte is for the payload length
0x03 for >256 byte payload length >> next 2 byte for the payload length
The follwing 2 bytes after the payload are the checksum. (see crc.h)
The byte stream it terminated with a 0x03.
For more details please refer also to http://vedder.se/2015/10/communicating-with-the-vesc-using-uart/